EP0674069A1 - Méthode et dispositif pour la réalisation de constructions avec l'emploi de briques de maçonnerie et/ou de coffrages - Google Patents

Méthode et dispositif pour la réalisation de constructions avec l'emploi de briques de maçonnerie et/ou de coffrages Download PDF

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Publication number
EP0674069A1
EP0674069A1 EP95104151A EP95104151A EP0674069A1 EP 0674069 A1 EP0674069 A1 EP 0674069A1 EP 95104151 A EP95104151 A EP 95104151A EP 95104151 A EP95104151 A EP 95104151A EP 0674069 A1 EP0674069 A1 EP 0674069A1
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EP
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Prior art keywords
rail
sections
transport
components
construction
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Granted
Application number
EP95104151A
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German (de)
English (en)
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EP0674069B1 (fr
Inventor
Manfred Kobler
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NUSSBAUMER, MARIA
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KOBLER MANFRED NUSSBAUMER MARIA
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    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
    • E04G21/14—Conveying or assembling building elements
    • E04G21/16—Tools or apparatus
    • E04G21/22—Tools or apparatus for setting building elements with mortar, e.g. bricklaying machines

Definitions

  • the invention relates to a device for the production of structures using components consisting of brick and / or formwork according to the preamble of claim 1 and 20 respectively.
  • the attic is first created at floor level. It later serves as a fully computerized factory for the further construction of the building. In the attic there are z. B. Automatic welding machines that perform individual construction activities, remote-controlled overhead traveling cranes or an elevator for the transport of construction equipment and material.
  • a generic device for producing walls made of masonry has become known from DE 37 22 244 A1. It is a preferably computer-controlled wall automaton, which is guided and movable on a floor track. The wall automaton can be moved along the wall to be bricked up and is equipped with several and possibly different stones, which can then be moved vertically in the wall automaton and lowered in the correct position using a gripper device. The wall automat can also be equipped with a mortar discharge device, which ensures that the individual bricks can be placed in the mortar bed in question.
  • a plurality of transport carriages are moved along a rail-bound path system, on which corresponding gripper arrangements are provided.
  • the individual components as a rule bricks or bricks
  • the required components can also be moved from a ready position to their respective installation position.
  • the main advantage of the fact that a large number of transport carriages can be moved simultaneously on the path system is that the automated device enables a large number of components, that is to say generally building blocks, at the same time or can be installed in the correct position at short intervals. In this way, for example, in conventional brick construction, a relevant floor and, ultimately, an entire building can be erected in a very short time.
  • the advantages according to the invention are also realized in that the transport carriages are guided on height-adjustable rails in the region of the individual construction sections.
  • the rails are tracked according to the current height of the wall to be created.
  • so many transport carriages are used that, for example, the entire level surface, i.e. an entire row of stones of the walls to be created can be placed at once.
  • the entire level surface i.e. an entire row of stones of the walls to be created can be placed at once.
  • the components in question are preferably moved from a store or intermediate store provided on or in the house area at least in an auxiliary manner via a transport system to the respective floor to be built.
  • the individual components required, in particular bricks are transported exactly to the position that is or is specified according to the computer-assisted control device via the same or a separate further conveyor and / or transport system. If, for example, a further row per base area is completely positioned, the building elements, in particular bricks, are moved downwards with even pressure and pressed into the mortar bed. After completing this process, the same begins for the next row of stones.
  • specific holding and gripping devices are provided for grasping and moving the stones, which are designed such that they preferably facilitate self-alignment and adjustment of a brick to be positioned in each case on a lower brick or wall section, and in turn preferably the one above Mortar bed automatically removes excess mortar from the side.
  • the lifting device After the completion of each row of walls, the lifting device is extended upwards by the height of the bricked stones, in order to then be able to brick up a next row of stones.
  • the height adjustment device can deviate from this but also be designed so that it causes a height adjustment relative to the support and support devices of the rails, which are not themselves adjustable in height.
  • a device for applying the horizontal mortar bed and - if necessary - for introducing the mortar between the vertical joints is integrated into the conveying system.
  • This conveyor system can also be provided separately.
  • the entire lifting device with the corresponding rail system is dismantled and dismantled and then rebuilt on the next higher floor to be bricked.
  • a corresponding addition to the route and transport system always ensures that the required components are transported from the starting or interim storage facility mentioned (preferably on the lowest floor of the house or outside the building to be constructed) to the next floor to be installed and positioned there in the correct position and can be installed.
  • formwork can equally be moved and positioned in the correct position, so that after positioning the corresponding formwork, it can be poured using in-situ concrete.
  • the entire system can be designed in such a way that, using appropriately provided sensors, monitoring devices, etc., continuous monitoring is carried out automatically in such a way that, even if the rail and transport system is not 100% exactly parallel to the wall section to be created, for the gripper carts a corresponding adjustment is made in such a way that the walls run exactly according to the given plan.
  • one species is preferred electronic battering system ". This can preferably include predetermined bearing points at the corners of the building to be constructed.
  • a calibration is first carried out, for example, with regard to the electronic bearing points preferably attached to the corner points of a building, so that even in the event of a more or less diverging course of the rail-bound system for the transport and gripper devices, the course of the walls to be created can be detected by the computer-assisted control system and corresponding corrections can be automatically taken into account Rail section to the wall section to be created during the construction of the wall in question, since the corresponding corrections are made by using the aforementioned electronic DF system, i.e. a type electronic batter boards "can always be taken into account and the walls can be built to plan.
  • the control of the gripper and transport wagons is computer-aided, preferably via a computer-aided control device.
  • a building object to be realized for example a house in whole or in part, that is to say in particular the outer and inner walls in accordance with the architect's plan of a computer or computer-aided system, is preferably divided into a lattice or grid work of individual building elements, for example stone formats and stone sizes.
  • this grid system the structure and progress of the construction project can be determined in a computer-aided manner, define and / or carry out.
  • the determination of the grid system can also take into account the required joint material, for example in the form of cement and mortar.
  • the grid or grid system is preferably designed in accordance with the modules, module formats, etc. used or implemented in dependence thereon.
  • the components used i.e. in particular blocks
  • all the required dimensions have been entered or entered beforehand, in particular the size of the individual stone formats, their positioning, etc.
  • a house to be built is shown in the schematic plan. It comprises four outer walls 1 and a plurality of inner walls 3. In the outer and inner walls 1, 3, openings for windows 5 and doors 7 are shown.
  • the basement has been completed, including the basement ceiling 9 shown in FIG. 1 and representing the floor area.
  • a control device 11 which is shown schematically in FIG. 1 and which generally comprises a central processor unit (CPU), is also provided.
  • the control device 11 comprises a computer or computer-based system for controlling the sequence and construction process.
  • the control device 11 does not necessarily have to consist of a microprocessor-based system. It is also possible to use several control devices which act more or less independently or side by side and which can also be connected to one another, for example, in a common network. Separate, preferably networked control devices can in particular also be integrated in the transport wagons, which move and correctly position the individual masonry blocks or formwork mentioned below.
  • a first transport or conveying device 13 is provided, by means of which the individual components 51 required can be moved from a supply store 15, that is to say a loading point 15, to a second transport or conveying device 17.
  • a transfer station between the first and second transport and conveying devices can be provided between the first and second transport or conveying devices 13, 17 at a suitable point, preferably in the area of the floor to be built, in particular within the outer walls 4.
  • the first and second conveyor devices it is also possible for the first and second conveyor devices to be designed as a uniform conveyor device, the so-called first transport and conveyor device 13 then dividing the first part 13 of a continuous conveyor system for moving the required components into the respective floor and a second part 17 and is divided.
  • FIG. 2 shows a schematic representation of a height-adjustable support and support structure which forms part of the transport and conveying device 17.
  • This preferably comprises supports or support columns that can be anchored on the floor 9 parallel to the walls 1, 3 to be walled 21. These are preferably hydraulically retractable and extendable.
  • the support columns 21 can be designed telescopically, so that their top can be moved from a deepest position to a sufficient maximum extended position, which should preferably correspond at least to the usual room heights.
  • the corresponding guide rail sections 25 of the load and / or guide rails or tracks 26 of the transport and conveying device 17 are then anchored and held on the extendable upper side 23 of the carrier and can be moved in height by means of the height-adjustable carrying and supporting device 19.
  • the conveyor system consists of a rail-bound path system, i.e. a rail-bound transport and conveyor system.
  • the transport and conveying routes are shown schematically in FIG. 1. They then run parallel to the outer walls, branches 31 also being provided via switches 29, which then preferably run parallel to the inner walls 3 provided in the interior of the building.
  • the conveying and transport paths formed by the rails 26 and rail sections 25, including the conveying and transport secondary paths or branches 31, are each arranged essentially parallel to the walls to be built.
  • a circulating conveyor system is selected to increase the throughput capacity.
  • the first transport and conveying device 13 or the so-called first part 13 of the entire common transport and conveying device 13, 17 includes a two-way 33, 34 leading section between the supply store 15 and the actual floor.
  • the transport routes including the branch 31 then run individual transport carriages 35 with an integrated gripper arrangement 37 sitting thereon.
  • All conceivable and suitable constructions come into consideration for the gripper arrangement 37.
  • mechanically operating gripper arms can be used, which are arranged, for example, in pairs on a gripper carriage and can be moved to a certain extent to grip a brick towards one another or to let it go again.
  • suction pads which generate the components to be moved while generating negative pressure, i.e. especially hold bricks.
  • a transport trolley 35 is moved to the supply store 15 in order to load a new brick to be bricked up, specifically by means of a gripper arrangement 37.
  • the trolleys 35 are then computer-controlled via the control device 11 along the pillars 39 on the one path or rail-bound feed path 33 to the relevant one Move floor.
  • the computer takes over the entire control of the transport carriage 35 and controls not only the transport carriage 35 but also the switches 29 mentioned (the control lines, the transmitter systems when controlled by transmitters, the drive device for moving the carriages 35 etc. are not shown in the figures) .
  • the transport carriage 35 ' is to be moved to point 43, after receiving the signal Loading "after loading the transport carriage 35 'in the preparation warehouse 15, after appropriate activation of the switch 29' it is moved along the arrow 39 'to the position 43.
  • a mortar application head 53 shown schematically in FIGS. 5 and 6, to which the hose end 47 is anchored, the mortar application head 53 being moved along the transport paths and branches 27, 31 via the aforementioned mortar carriage 45 carrying it.
  • the mortar application head 53 on the opposite side boundary planes of a wall 1, 3 has a kind of laterally protruding spatula 55 ( Figure 6), whereby a kind of chamber is formed, which by the lateral spatula 55 and the top of each previously bricked row of stones (or a floor ceiling) and the bottom of the mortar application head 53 is formed.
  • the mortar hose system mentioned can press the mortar between the stones at the electronically determined and monitored positions. This can optionally be done by placing a mortar head on the side or from above (as shown in FIGS. 5 and 6, whereby spatulas protruding laterally are preferably used here, the height of which corresponds at least approximately to the height of the stones to be bricked up).
  • building blocks 51 with a mortar pocket provided in the upper front area can also be used, which is then filled with mortar accordingly. This can be done via the mortar head or discharge nozzle of the mortaring device.
  • a row with masonry stones is thus placed over the control device, whereby after the above-mentioned positioning of the above-mentioned stone 51 'by the transport carriage 35' at the point 43 of the transport carriage 35 in plan view in the exemplary embodiment shown, counterclockwise over the following switches and path sections and the later return path 34 is in turn returned to the loading point 15.
  • the height-adjustable support and support devices 19 with the extendable support columns 21 are actuated in a controlled manner via the control device 11 such that the entire system is moved upwards by the height of a brick row.
  • the transport routes 27 mentioned, including the branches 31, could also run directly above a wall 1, 3 to be bricked up.
  • the gripper arrangements must, as in the described embodiment, also have the possibility that a stone 51 to be transported can be moved laterally and / or in height by the carriage to such an extent that it can be brought into its walling position for the position of the rail-bound conveyor system .
  • the length of a trolley is usually shorter than the length of a brick in question, so that a complete row of bricks can be placed at the same time.
  • the sleeve 61 As shown in FIG. 3, is poured into the floor slab, ie the concrete floor slab 9 ', and is fixed therein.
  • this sleeve 61 which is provided with an internal thread, the support columns and supports 21 mentioned can then be screwed with their external thread become.
  • the support columns can also be anchored via cross supports on a floor or on a floor ceiling, but above all on the section of a wall that has already been bricked up, in order to increase the stability against tipping. These cross braces can also be removed again.
  • the gripper arrangement 37 which can also be moved on a transport carriage 35, is shown schematically with reference to FIGS. 7 and 8.
  • this comprises two opposing clamping arms 71 which embrace the stone 51 to be installed from above. According to the cross-sectional illustration in FIG. 7, these can be moved apart and again towards one another until two internal opposing clamping jaws 73 are biased towards the opposite side surfaces Moving brick 51 rest.
  • the clamping arms 71 can be moved sufficiently far apart and again towards one another on all different dimensions of the components used and to be transported, in particular building blocks.
  • the opposing clamping arms 71 are designed in such a way that they protrude approx. 10 cm down over the lower limit of the stone 51 to be placed on top.
  • the ends of these gripping arms are bent slightly inwards and are at a clearance which is at least slightly greater than the thickness of the bricks used.
  • these clamping arms 71 overlap the underlying brick.
  • the previously applied mortar bed (which has a width that is generally less than the thickness of the brick) is flattened by the pressure, with excess mortar mass being pressed out laterally beyond the side boundary of the brick.
  • the bricks 51 are bricked up precisely and in a targeted manner via the computer.
  • the use of additional sensors or other monitoring devices is not necessary in order to monitor the progress of the construction project and to initiate the next steps automatically and program-controlled. Nevertheless, in order to achieve functional reliability and also to adapt remaining dimensional inaccuracies through the use of sensors, monitoring devices, etc., a self-regulating adaptation to the next one in order to carry out the next step can be provided.
  • manual interventions can also be carried out, if necessary, also via the control device 11. In other words, targeted control steps can be carried out purposefully and consciously by the operating personnel of the control device from the otherwise automatic or largely automatic construction method.
  • the explained transport and conveying device can be dismantled on the pre-built floor and installed on the next floor to be installed below.
  • the first transport and conveying device or the first part of the uniform transport and conveying device 13, which leads to the loading point 15, is extended accordingly, the conveying path preferably being moved inside the house, for example a stairwell, into the respective new floor.
  • the entire system is designed in such a way that it can be broken down into many individual parts and can thus be easily transported on one storey to the next storey.
  • a corresponding correction factor or a correction quantity can be determined via a measurement and calibration carried out beforehand and entered into the automatically operating control system.
  • the correction values determined in this way ensure that even if the path-dependent conveyor lines are at least slightly different from one floor to the next, the stones to be installed can be made in plan view exactly in the same flush vertical plane to the previously bricked, lower rows of stones.
  • Deviating and in addition to this can also be a so-called electronic Batter board "may be provided.
  • an electronic direction finder system can now be provided at floor level or after completion of a floor, preferably at the height of the highest floor ceiling, at a suitable point.
  • a suitable point for this purpose, such an electronic one is shown schematically in FIG Schnurpeil-Scaffold "79 drawn in, which preferably provides sensors or probes 81 which can be mounted in the corners of the house.
  • These are each positioned using suitable surveying devices in such a way that floor by floor the bearing points 83 are coordinated in the correct position becomes.
  • These represent the calibration and reference points in order to create the masonry in the correct position on each floor, even if the transport and conveying paths 25, 27 do not run exactly parallel to the walls to be bricked up.
  • a cutting machine and other processing machines can be provided in order to process the required components accordingly by means of these machines if necessary.
  • the required components in particular stones, are moved by means of the transport car to the processing machines, cutting machine, etc. concerned, stored there and preferably automatically processed by these machines, for example cut off, cut to length, etc. Controlled by these machines
  • Pre-processed stones are positioned and installed in the correct position in a computer-controlled manner at the location provided for them.
  • the exemplary embodiment is explained on the basis of building blocks 51 which were placed on top of one another using a mortar bed.
  • a mortar bed can also be dispensed with.
  • these can be placed on top of one another without any connecting means or, for example, by means of comparatively thin adhesive layers.
  • the automatic system explained can also be used in these cases.
  • the conveyor system explained can also be designed such that in addition to the different stone formats described, formwork elements, for example made of (light) metal, can also be transported. Like the stones, these formwork systems are brought to the previously determined position and fixed there. First, as usual, the outer formwork is transported, then - as usual - the irons are laid and then the inner formwork is brought to the predetermined place in the same way. After the formwork elements have been mechanically fixed, the formwork elements are stiffened both inwards and outwards by hand or, if possible, also by mechanical means.
  • formwork elements for example made of (light) metal
  • the walls as with the bricks, are divided into a corresponding lattice work for the mechanical formwork for producing the concrete walls, so that the correspondingly desired automated control can be carried out via the computer-aided size-dependent screening.
  • the grid can also have grid fields of different sizes, which differ in length, height and width of the components to be installed, formwork to be used, etc.
  • a formwork element can be transported together by one or more transport trolleys. With more suitable The construction can be transported by one or more transport trolleys at the same time both an internal and an external formwork element. However, outer and inner formwork elements can just as easily be moved to their installation location using separate transport carriages. When pouring in-situ concrete, the positioning and mounting of the inner and outer formwork elements can also be carried out by the gripper device on the trolleys themselves. Only in the lower end of the formwork elements would they have to be fixed accordingly, for example by spacers, which can be introduced into the formwork space from the outside through an opening provided in at least one of the two opposite formwork elements and then anchored to the opposite formwork elements.
  • support columns and the conveyor itself can also be anchored and positioned outside the building if required.
EP95104151A 1994-03-22 1995-03-21 Méthode et dispositif pour la réalisation de constructions avec l'emploi de briques de maçonnerie et/ou de coffrages Expired - Lifetime EP0674069B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE4409829 1994-03-22
DE4409829A DE4409829C2 (de) 1994-03-22 1994-03-22 Vorrichtung und Verfahren zur Herstellung von Bauwerken unter Verwendung von aus Mauerstein und/oder Schalungen bestehenden Bauteilen

Publications (2)

Publication Number Publication Date
EP0674069A1 true EP0674069A1 (fr) 1995-09-27
EP0674069B1 EP0674069B1 (fr) 1999-12-15

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EP95104151A Expired - Lifetime EP0674069B1 (fr) 1994-03-22 1995-03-21 Méthode et dispositif pour la réalisation de constructions avec l'emploi de briques de maçonnerie et/ou de coffrages

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EP (1) EP0674069B1 (fr)
AT (1) ATE187796T1 (fr)
DE (2) DE4409829C2 (fr)

Cited By (8)

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GR960100236A (el) * 1996-07-10 1998-03-31 Μεθοδος κατασκευης τοιχοποιιας με πολυπλευρον δομικον στοιχειον.
US6223886B1 (en) 1998-06-24 2001-05-01 Asyst Technologies, Inc. Integrated roller transport pod and asynchronous conveyor
US6308818B1 (en) 1999-08-02 2001-10-30 Asyst Technologies, Inc. Transport system with integrated transport carrier and directors
US6435330B1 (en) 1998-12-18 2002-08-20 Asyai Technologies, Inc. In/out load port transfer mechanism
US6533101B2 (en) 1998-06-24 2003-03-18 Asyst Technologies, Inc. Integrated transport carrier and conveyor system
CN110306787A (zh) * 2019-07-31 2019-10-08 正如(广东)机器人科技有限公司 建筑外墙模板机器人
CN113565335A (zh) * 2021-07-26 2021-10-29 广东善建建设股份有限公司 一种基于bim的砌筑工程施工装置及其施工方法
CN115199065A (zh) * 2021-04-09 2022-10-18 广东博智林机器人有限公司 转运装置及砌砖系统

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DE19603234C2 (de) * 1996-01-30 2001-01-04 Paul Wasmer Vorrichtung zm automatischen Mauern
DE10056635A1 (de) * 2000-11-15 2002-05-29 Frank Gnisa Verfahren Vorrichtung und Baumasse zum automatisierten Bauen
DE102004060096A1 (de) * 2004-12-13 2006-06-14 Aschauer, Lothar, Dipl.-Ing. Verfahren zur Herstellung eines Gebäudes
DE102007063561A1 (de) * 2007-12-30 2009-07-09 Hochschule für Technik und Wirtschaft Dresden (FH) Verfahren und Anordnung zur Erstellung von Bauwerken
BR112019000722B1 (pt) 2016-07-15 2023-03-28 Fastbrick Ip Pty Ltd Lança extensível telescópica para transportar item e lança dobrável
BR112019000728B1 (pt) 2016-07-15 2023-03-28 Fastbrick Ip Pty Ltd Veículo que incorpora máquina de assentamento de tijolos
CN111095355B (zh) 2017-07-05 2023-10-20 快砖知识产权私人有限公司 实时定位和定向跟踪器
AU2018317937B2 (en) 2017-08-17 2023-11-23 Fastbrick Ip Pty Ltd Communication system for an interaction system
EP3694793B1 (fr) 2017-10-11 2023-11-08 Fastbrick IP Pty Ltd Machine destinée à transporter des objets
CN111677303A (zh) * 2020-06-10 2020-09-18 广东博智林机器人有限公司 一种砌砖设备

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DE1684406A1 (de) * 1965-09-17 1969-10-30 Reinbouw N V Verfahren und Vorrichtung zum Herstellen der Fassaden und Innenmauern eines Gebaeudes
DE2108482A1 (de) * 1971-02-23 1972-09-07 Kutschera, Wolfgang, 5603 Wulfrath Anlage zur Herstellung von Bauwerken
FR2236073A1 (en) * 1973-07-05 1975-01-31 Ballast Nedam Groep Nv Automatic brick laying machine - has control arms for positioning construction elements and container for mortar
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Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GR960100236A (el) * 1996-07-10 1998-03-31 Μεθοδος κατασκευης τοιχοποιιας με πολυπλευρον δομικον στοιχειον.
US6223886B1 (en) 1998-06-24 2001-05-01 Asyst Technologies, Inc. Integrated roller transport pod and asynchronous conveyor
US6494308B2 (en) 1998-06-24 2002-12-17 Asyst Technologies, Inc. Integrated roller transport pod and asynchronous conveyor
US6533101B2 (en) 1998-06-24 2003-03-18 Asyst Technologies, Inc. Integrated transport carrier and conveyor system
US6435330B1 (en) 1998-12-18 2002-08-20 Asyai Technologies, Inc. In/out load port transfer mechanism
US6481558B1 (en) 1998-12-18 2002-11-19 Asyst Technologies, Inc. Integrated load port-conveyor transfer system
US6308818B1 (en) 1999-08-02 2001-10-30 Asyst Technologies, Inc. Transport system with integrated transport carrier and directors
CN110306787A (zh) * 2019-07-31 2019-10-08 正如(广东)机器人科技有限公司 建筑外墙模板机器人
CN115199065A (zh) * 2021-04-09 2022-10-18 广东博智林机器人有限公司 转运装置及砌砖系统
CN115199065B (zh) * 2021-04-09 2023-07-25 广东博智林机器人有限公司 转运装置及砌砖系统
CN113565335A (zh) * 2021-07-26 2021-10-29 广东善建建设股份有限公司 一种基于bim的砌筑工程施工装置及其施工方法

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DE4409829A1 (de) 1995-09-28
DE59507406D1 (de) 2000-01-20
EP0674069B1 (fr) 1999-12-15
DE4409829C2 (de) 1996-08-22
ATE187796T1 (de) 2000-01-15

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